#ifndef RRT_ITERATION_COUNT_H_
#define RRT_ITERATION_COUNT_H_

#include "ompl/geometric/planners/rrt/RRT.h"
#include "IIterationCount.h"

class RRTIterationCount : public ompl::geometric::RRT, public IIterationCount
{
public:
	RRTIterationCount(const ompl::base::SpaceInformationPtr &si);
	virtual ~RRTIterationCount(void);

	virtual void clear(void);

	virtual ompl::base::PlannerStatus solve(const ompl::base::PlannerTerminationCondition &ptc);

protected:
};

#endif